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检索条件"机构=Laboratory of Automation and Robotics Department ofElectrical and Computer Engineering"

共 314 条记录，以下是141-150 订阅

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Mathematical modeling of control systems using Fuzzy Cognitive Maps: Challenging issues

Mathematical modeling of control systems using Fuzzy Cogniti...

引用

IASTED International Conference on Control and Applications, CA 2012

作者： Groumpos, Peter P. Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras 26500 Rion Patras Greece

ISBN: (纸本)9780889869226

The challenging problem of modeling and analyzing complex control systems is investigated using advanced methods of Fuzzy Cognitive Maps. Challenges issues of mathematical modeling in general control systems are briefly reviewed and the problems arised using standard control method in the presence of uncertainty are presented. The need to model hierarchical systems using new and advanced methods based on Fuzzy Systems and Soft Computing is demonstrated. The issue of modeling two-level structural hierarchical systems is discussed and such a system is modeled using FCMS. An example from the pharmaceutical industries is used to prove the usefulness of using FCMs. Simulation results are given and interesting conclusions are provided.

关键词： Fuzzy Cognitive Maps

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Adaptive control for a cable driven robot arm

Adaptive control for a cable driven robot arm

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2012 9th IEEE International Conference on Mechatronics and automation, ICMA 2012

作者： Ma, Jianjun Li, Yanan Ge, Shuzhi Sam Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore 119077 Singapore Department of Automatic Control College of Mechatronics and Automation National University of Defense Technology Changsha 410073 China NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781467312776

The cable-driven mechanism is usually used in robotic systems for the efficient transmission of forces or torques from actuators to the end-effector. However, the control design is challenging for these systems due to the cable compliance and transmission elasticity. In this paper, adaptive control in a cascaded structure is designed for the trajectory tracking of a cable driven robot arm. The desired control input is obtained by developing an adaptation scheme, which does not require the computation of the regressor matrix. Proportional-derivative (PD) control is designed to specify the actual control input such that the trajectory tracking is achieved. Simulation results are provided to show the effectiveness of the proposed method. © 2012 IEEE.

关键词： Cables

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Validation of an odor source identification algorithm via an underwater vehicle

Validation of an odor source identification algorithm via an...

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2nd International Conference on Intelligent Systems Design and engineering Applications, ISDEA 2012

作者： Kang, Xiaodong Li, Wei Xu, Hongli Feng, Xisheng Li, Yiping State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Liaoning Province 110016 China Graduate School of the Chinese Academy of Sciences Beijing 100049 China Department of Computer Engineering and Science California State University Bakersfield CA 93311 United States

ISBN: (纸本)9780769546087

This paper systemically discusses a procedure for evaluating and validating an odor source identification algorithm derived from moth-inspired plume tracing strategies. We evaluate and validate the proposed source identification algorithm as follows. First, we identify the source of a virtual chemical plume with significant filament intermittency and meander via a simulated underwater vehicle. Second, we validate the source identification algorithm using the virtual chemical plume and a real underwater vehicle in a swimming pool. Finally, we run in-water tests to trace a Rhoda mine dye plume developed in near-shore ocean environments characterized by turbulence, tides and waves, and to identify its source via the underwater vehicle at Da Lian Bay in China. © 2012 IEEE.

关键词： Vehicles

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Stability and transparency improvement in haptic device employing both MR-brake and active actuator

Stability and transparency improvement in haptic device empl...

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2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012

作者： Baser, Ozgur Konukseven, E. Ilhan Gurocak, Hakan Mechanical Engineering Department Middle East Technical University Universiteler Mah. Dumlupinar Blv. No:1 06800 Çankaya Ankara Turkey Robotics and Automation Laboratory Washington State University Vancouver WA United States School of Engineering and Computer Science Washington State University Vancouver WA 98686 United States

ISBN: (纸本)9781467346054

An ideal haptic device should transmit a wide range of stable virtual model impedances (Z-width) with high transparency. Magneto-rheological fluid (MR) brakes are advantageous in haptic devices since they are passive actuators. However, they cannot provide high transparency and smooth interaction due to high viscous friction, residual torque, slow response, sticking and hysteresis effects. On the other hand, active actuators cannot simulate high virtual impedances stably, but provide high transparency with a closed loop control algorithm. In the proposed hybrid actuation a task divider control (TDC) algorithm was developed for torque sharing between two actuators to provide a large Z-width and improve both transparency and smoothness. The algorithm employs two parameters which were estimated experimentally and extended to entire achievable impedance range by artificial neural network (ANN) and curve fitting techniques. A 1-DOF device having an excitation motor at the user side and brushless DC motor and MR-brake in the haptic side was used in the experiments. The excitation motor is used to generate a white noise torque input to simulate a user for frequency domain transparency tests. Results of the proposed and conventional closed loop impedance control (CLIC) algorithms were compared. The proposed algorithm improves the transparency of MR-brake by eliminating its drawbacks and presents a larger Z-width than the active actuator alone. © 2012 IEEE.

关键词： Hysteresis

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Object recognition using saliency maps and HTM learning

Object recognition using saliency maps and HTM learning

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2012 IEEE International Conference on Imaging Systems and Techniques, IST 2012

作者： Kostavelis, Ioannis Nalpantidis, Lazaros Gasteratos, Antonios Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Vas. Sofias 12 GR-67100 Xanthi Greece Computer Vision and Active Perception Lab. Centre for Autonomous Systems Royal Institute of Technology - KTH SE-100 44 Stockholm Sweden

ISBN: (纸本)9781457717741

In this paper a pattern classification and object recognition approach based on bio-inspired techniques is presented. It exploits the Hierarchical Temporal Memory (HTM) topology, which imitates human neocortex for recognition and categorization tasks. The HTM comprises a hierarchical tree structure that exploits enhanced spatiotemporal modules to memorize objects appearing in various orientations. In accordance with HTM's biological inspiration, human vision mechanisms can be used to preprocess the input images. Therefore, the input images undergo a saliency computation step, revealing the plausible information of the scene, where a human might fixate. The adoption of the saliency detection module releases the HTM network from memorizing redundant information and augments the classification accuracy. The efficiency of the proposed framework has been experimentally evaluated in the ETH-80 dataset, and the classification accuracy has been found to be greater than other HTM systems. © 2012 IEEE.

关键词： Object recognition

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Learning the terrain and planning a collision-free trajectory for indoor post-disaster environments

Learning the terrain and planning a collision-free trajector...

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IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Ioannis Kostavelis Antonios Gasteratos Evangelos Boukas Lazaros Nalpantidis Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Laboratory of Computer Vision and Machine Intelligence Department of Mechanical and Manufacturing Engineering Aalborg University Copenhagen Copenhagen Denmark

Mobile robots dedicated in post-disaster missions should be capable of moving arbitrarily in unknown cluttered environments so as to accomplish their assigned security task. The paper in hand describes such an agent equipped with collision risk assessment capabilities, while it is able to trace an obstacle-free path in the scene as well. The robot exploits machine learning techniques for the traversability evaluation of the environment by making use of geometrical features, which derive from a postprocessing step of the depth map, obtained by an RGBD sensor. Then, the traversable scenes, are assessed by the likelihood the robot to collide on any arbitrary direction in front of it. Besides, the collision risk likelihood is combined with a path tracing algorithm based on Cellular Automata so that an obstacle-free route is then detected. The proposed method has been examined for several indoor scenarios revealing remarkable efficiency.

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Object recognition using saliency maps and HTM learning

Object recognition using saliency maps and HTM learning

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IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： Ioannis Kostavelis Lazaros Nalpantidis Antonios Gasteratos Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Computer Vision and Active Perception Laboratory Centre for Autonomous Systems Royal Institute of Technology Stockholm Sweden

关键词： Correlation Quantization Vectors Accuracy Support vector machines Object recognition Humans

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Development of Prosthesis Grasp Control Systems on a Robotic Testbed

Development of Prosthesis Grasp Control Systems on a Robotic...

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IEEE RAS & EMBS International Conference on Biomedical robotics and Biomechatronics

作者： Bart Peerdeman Ugo Fabrizi Gianluca Palli Claudio Melchiorri Stefano Stramigioli Sarthak Misra MIRA - Institute for Biomedical Technology and Technical Medicine (Control Engineering Group) University of Twente LAR DEIS - Laboratory of Automation and Robotics Department of Electronics Computer Science and Systems University of Bologna

ISBN: (纸本)9781457711992

Modern myoelectric hand prostheses continue to increase in functionality, while their control is constrained by the limits of myoelectric input. This paper covers the development and testing of grasp control systems for multifunctional myoelectric prosthetic hands. The functionality of modern hand prostheses is often focused on the task of grasping, which can be divided into high-level grasp planning and low-level finger control. Initially, models can used to test these control systems, but for proper evaluation actual implementation on a physical system is required. The University of Bologna (UB) Hand IV prototype is an anthropomorphic, tendon-driven robotic hand, which makes it well-suited to represent the structure of modern prostheses. One of the main control systems tested in this paper is based on the intrinsically passive controller (IPC), the structure of which offers guaranteed passivity and stability. After several grasping tests, the systems are evaluated on compliant behavior, grasping ability, and dynamic appearance. IPC proves to be a powerful approach to interaction control, without the associated sensor requirements which could be difficult to meet in modern hand prostheses.

关键词： Grasp control systems Prosthetic hand Prosthesis robotic hand

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Stability and transparency improvement in haptic device employing both MR-brake and active actuator

Stability and transparency improvement in haptic device empl...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Ozgur Baser E. ilhan Konukseven Hakan Gurocak Mechanical Engineering Department Middle East Technical University Turkey Robotics and Automation Laboratory Washington State University Vancouver WA USA Mechanical Engineering Department Middle East Technical University Cankaya Ankara Turkey School of Engineering and Computer Science Washington State University Vancouver WA USA

关键词： Actuators Torque Haptic interfaces Impedance Stability analysis Artificial neural networks Friction

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Investigating the relationship between CD20-Rituximab binding force and mechanical properties of Lymphom B cells using atomic force microscopy

Investigating the relationship between CD20-Rituximab bindin...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Mi Li Lianqing Liu Ning Xi Yuechao Wang Zaili Dong Xiubin Xiao Weijing Zhang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Department of Electrical and Computer Engineering Michigan State University East Lansing MI USA Department of Lymphoma Affiliated Hospital of Military Medical Academy of Sciences Beijing China

The invention of atomic force microscopy (AFM) provides new technology for investigating the physiological activities at the single cell and single molecule levels. Lymphoma Raji cells were adsorbed onto the glass slides by coating the glass slides with poly-L-lysine. Rituximabs (anti-CD20 antibody) were linked onto the AFM tip by PEG linker and the CD20-Rituximab binding forces were measured on three lymphoma Raji cells. Then the mechanical properties of the Raji cells were dynamically measured after the Rituximab activation by obtaining force curves on the cell surface. The mechanical properties of lymphoma cells kept stable at the first 20-30 min, and then decreased markedly. Besides, as the CD20-Rituximab binding force increased, the mechanical properties decrease rate increased. The experimental results indicated that the Rituximab's effect is related to CD20-Rituximab binding force and can improve our understanding of Rituximab's variable efficacies in different patients.

关键词： Force Cancer Probes Drugs Force measurement

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